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Open AccessArticle

The Vector Matching Method in Geomagnetic Aiding Navigation

Faculty of Automation and Information Engineering, Xi’an University of Technology, NO.5 South Jinhua Road, Xi’an 710048, China
Xi’an Research Institute of High Technology, NO.2 Tongxin Road, Xi’an 710025, China
Author to whom correspondence should be addressed.
Academic Editors: Xue-Bo Jin, Feng-Bao Yang, Shuli Sun and Hong Wei
Sensors 2016, 16(7), 1120;
Received: 28 March 2016 / Revised: 9 July 2016 / Accepted: 15 July 2016 / Published: 20 July 2016
(This article belongs to the Special Issue Advances in Multi-Sensor Information Fusion: Theory and Applications)
In this paper, a geomagnetic matching navigation method that utilizes the geomagnetic vector is developed, which can greatly improve the matching probability and positioning precision, even when the geomagnetic entropy information in the matching region is small or the geomagnetic contour line’s variety is obscure. The vector iterative closest contour point (VICCP) algorithm that is proposed here has better adaptability with the positioning error characteristics of the inertial navigation system (INS), where the rigid transformation in ordinary ICCP is replaced with affine transformation. In a subsequent step, a geomagnetic vector information fusion algorithm based on Bayesian statistical analysis is introduced into VICCP to improve matching performance further. Simulations based on the actual geomagnetic reference map have been performed for the validation of the proposed algorithm. View Full-Text
Keywords: geomagnetic matching; inertial navigation system; iterative closest contour point; Bayesian theory geomagnetic matching; inertial navigation system; iterative closest contour point; Bayesian theory
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Song, Z.; Zhang, J.; Zhu, W.; Xi, X. The Vector Matching Method in Geomagnetic Aiding Navigation. Sensors 2016, 16, 1120.

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